LaneDetectionNvidiaJetson

Distortion corrected calibration image.

The code for this step is contained in the calibration.cpp Here.
Start by preparing "object points", which will be the (x, y, z) coordinates of the chessboard corners in the world. Here we are assuming the chessboard is fixed on the (x, y) plane at z=0, such that the object points are the same for each calibration image. Thus, objp is just a replicated array of coordinates, and objpoints will be appended with a copy of it every time I successfully detect all chessboard corners in a test image. imgpoints will be appended with the (x, y) pixel position of each of the corners in the image plane with each successful chessboard detection. Then use the output objpoints and imgpoints to compute the camera calibration and distortion coefficients using the calibrateCamera() function.
Example:

Pipeline.

At First, resize the image and then convert frame as Bird view and then use a combination of color and gradient thresholds to generate a binary image.
Step 1: Undisort Image.
Step 2: Binary Image.
Step 3: Take a histogram along all the columns in the lower half of the image and split histogram for two sides for each lane.
Step 4: Use the two highest peaks from histogram as a starting point for determining where the lane lines are, and then use sliding windows moving upward in the image to determine where the lane lines go.
Example:

Step 5: Identify lane-line pixels.
Find all non zero pixels.
Example:

Step 6: Fit their positions with a polynomial.
After performing 2nd order polynomial fit for nonzero pixels, drawing polyline and unwrap image the final output.
Example:

Dependencies and Compiling.

1- Ubuntu 18.04.01 .
2- OpenCV 3.4 or greater.
3- openMP required.
4- Run LaneDetection.sh, this script will compile and run the code.

Radius of curvature of the lane and the position of the vehicle with respect to center.

Get the left and right cordinates and calculate the midpoint of lanes and use the image center as reference to calculate distance away from center.

Dependencies and Compiling.

1- Nvidia Jetson TX2.
2- OpenCV 3.4.
3- aarch64.lib file required to compile.
4- Run make file from output folder.
5- Code was optimized specifically for ARM Cortex processor.

Name		Name	Last commit message	Last commit date
Latest commit History 22 Commits
.github/ISSUE_TEMPLATE		.github/ISSUE_TEMPLATE
camera_cal		camera_cal
images		images
output		output
CODE_OF_CONDUCT.md		CODE_OF_CONDUCT.md
ImageTestFunction.cpp		ImageTestFunction.cpp
ImageTestFunction.h		ImageTestFunction.h
LICENSE		LICENSE
LaneProcessing.cpp		LaneProcessing.cpp
README.md		README.md
VideoProcess.cpp		VideoProcess.cpp
VideoProcess.h		VideoProcess.h
Writeup Template.pdf		Writeup Template.pdf
_config.yml		_config.yml
all_header.h		all_header.h
binary.cpp		binary.cpp
binary.h		binary.h
bwareaopen.cpp		bwareaopen.cpp
bwareaopen.h		bwareaopen.h
bwlabel.cpp		bwlabel.cpp
bwlabel.h		bwlabel.h
calibration.cpp		calibration.cpp
constants.h		constants.h
gray.cpp		gray.cpp
gray.h		gray.h
hsv.cpp		hsv.cpp
hsv.h		hsv.h
imagewrap.cpp		imagewrap.cpp
imagewrap.h		imagewrap.h
isrow.cpp		isrow.cpp
isrow.h		isrow.h
ixamax.cpp		ixamax.cpp
ixamax.h		ixamax.h
mean.cpp		mean.cpp
mean.h		mean.h
morphopAlgo.cpp		morphopAlgo.cpp
morphopAlgo.h		morphopAlgo.h
openv.mp4		openv.mp4
polyfit.cpp		polyfit.cpp
polyfit.h		polyfit.h
power.cpp		power.cpp
power.h		power.h
processedout.cpp		processedout.cpp
processedout.h		processedout.h
processedout_data.cpp		processedout_data.cpp
processedout_data.h		processedout_data.h
processedout_emxAPI.cpp		processedout_emxAPI.cpp
processedout_emxAPI.h		processedout_emxAPI.h
processedout_emxutil.cpp		processedout_emxutil.cpp
processedout_emxutil.h		processedout_emxutil.h
processedout_initialize.cpp		processedout_initialize.cpp
processedout_initialize.h		processedout_initialize.h
processedout_terminate.cpp		processedout_terminate.cpp
processedout_terminate.h		processedout_terminate.h
processedout_types.h		processedout_types.h
processinga.cpp		processinga.cpp
processingb.cpp		processingb.cpp
qrsolve.cpp		qrsolve.cpp
qrsolve.h		qrsolve.h
resize.cpp		resize.cpp
resize.h		resize.h
rtGetInf.cpp		rtGetInf.cpp
rtGetInf.h		rtGetInf.h
rtGetNaN.cpp		rtGetNaN.cpp
rtGetNaN.h		rtGetNaN.h
rt_nonfinite.cpp		rt_nonfinite.cpp
rt_nonfinite.h		rt_nonfinite.h
rtwtypes.h		rtwtypes.h
sobel.cpp		sobel.cpp
sobel.h		sobel.h
sqrt.cpp		sqrt.cpp
sqrt.h		sqrt.h
sum.cpp		sum.cpp
sum.h		sum.h
vander.cpp		vander.cpp
vander.h		vander.h
xgemv.cpp		xgemv.cpp
xgemv.h		xgemv.h
xgeqp3.cpp		xgeqp3.cpp
xgeqp3.h		xgeqp3.h
xgerc.cpp		xgerc.cpp
xgerc.h		xgerc.h
xnrm2.cpp		xnrm2.cpp
xnrm2.h		xnrm2.h
xswap.cpp		xswap.cpp
xswap.h		xswap.h
xzlarf.cpp		xzlarf.cpp
xzlarf.h		xzlarf.h
xzlarfg.cpp		xzlarfg.cpp
xzlarfg.h		xzlarfg.h

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apreddyy/LaneDetectionNvidiaJetson

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